Siemens SINAMICS S120 Function Manual page 6

Table of contents
4.3.1 Main/supplementary setpoint and setpoint scaling ................................................................65
4.3.2 Jogging...................................................................................................................................66
4.3.3 Direction of rotation limiting and direction reversal ................................................................70
4.4 Speed limiting.........................................................................................................................71
4.5 Ramp-function generator .......................................................................................................73
4.5.1 Ramp-function generator tracking..........................................................................................76
4.5.2 Signal overview, function diagrams and important parameters ............................................78
5 Servo control ..............................................................................................................................................81
5.1 Comparison between servo control and vector control ..........................................................82
5.2 Influencing calculation of the open-loop control and closed-loop control parameters............86
5.3 Setpoint addition ....................................................................................................................87
5.4 Speed setpoint filter ...............................................................................................................89
5.5 Speed controller .....................................................................................................................91
5.5.1 Speed controller adaptation ...................................................................................................91
5.5.2 Torque-controlled operation ...................................................................................................93
5.6 Torque setpoint limitation .......................................................................................................96
5.7 Current setpoint filter............................................................................................................100
5.8 Current controller .................................................................................................................107
5.9 Autotuning ............................................................................................................................109
5.9.1 One Button Tuning ...............................................................................................................109
5.9.2 Online tuning ........................................................................................................................114
5.9.2.1 "Drive-based" online tuning ..................................................................................................114
5.9.2.2 Adaptation of the control parameters ...................................................................................118
5.9.2.3 Problem handling .................................................................................................................119
5.9.3 Current setpoint filter adaptation ..........................................................................................120
5.9.3.1 Stability of the speed control loop ........................................................................................124
5.9.3.2 Lower and upper limit frequencies .......................................................................................124
5.9.3.3 Remedy for insufficient adaptation.......................................................................................125
5.9.4 Function diagrams and parameters .....................................................................................125
5.10 Notes about the electronic motor model ..............................................................................127
5.11 Increased stall power at the voltage limit .............................................................................128
5.12 U/f control.............................................................................................................................131
5.13 Optimizing the current and speed controller ........................................................................135
5.14 Encoderless operation .........................................................................................................137
5.15 Motor data identification .......................................................................................................142
5.15.1 Motor data identification for induction motors ......................................................................145
5.15.2 Motor data identification for synchronous motors ................................................................147
5.16 Pole position identification....................................................................................................150
5.16.1 Supplementary conditions....................................................................................................151
5.16.2 Important parameters (process-dependent).........................................................................155
5.16.3 Setting of the elasticity-based pole position identification ....................................................156
5.16.4 Commutation angle offset commissioning support (p1990) .................................................165
5.16.5 Overview of important parameters (see SINAMICS S120/S150 List Manual) .....................165
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Function Manual, 06/2019, 6SL3097-5AB00-0BP2
Drive functions